A route planning method, apparatus and computing device

Abstract

This specification discloses several embodiments that provide a route planning method, apparatus, and computing device. The starting point and ending point of the navigation route are considered as the corresponding travel boundary points. The starting road segment matched by the starting point and the ending road segment matched by the ending point are considered as the travel boundary segments matched by the travel boundary points. Based on the first type of travel boundary segments that are close to the travel boundary points, a second type of travel boundary segments that may not be close enough to the travel boundary points but are still suitable as travel boundary segments are further identified.

Description

Technical Field

[0001] This specification relates to the field of navigation technology in several embodiments, and in particular to a route planning method, apparatus and computing device. Background Technology

[0002] In travel navigation services, based on a given start and end point of a trip, the system typically mines the starting road segment (which can be understood as the road segment that the user can enter from the start point) and the ending road segment (which can be understood as the road segment that the user can reach from the end point). Then, based on the mined starting and ending road segments, a route planning algorithm is used to plan several navigation routes between the start and end points of the trip for the user.

[0003] In existing route planning methods, the starting and ending road segments input into the route planning algorithm may not be conducive to the algorithm outputting high-quality navigation routes. Specifically, it may lead to situations such as the inability to plan a usable navigation route, the planning of a navigation route requiring the user to take a detour, or the planning of a navigation route containing locations that the user cannot pass through.

[0004] Based on the above, this disclosure aims to provide a route planning solution that makes it easier to plan high-quality navigation routes. Summary of the Invention

[0005] According to a first aspect of several embodiments of this specification, a route planning method is proposed, comprising:

[0006] Determine the travel boundary points corresponding to the navigation route to be planned, whereby the travel boundary points are either the start point or the end point of the trip;

[0007] At least one road segment is selected from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment;

[0008] Based on each first-type travel boundary segment, the second-type travel boundary segment is extracted, including the following steps:

[0009] Determine the set of road segment connection points associated with the first type of travel boundary road segment, wherein each road segment connection point is the location point corresponding to the connection area between the first type of travel boundary road segment and other road segments it connects to;

[0010] Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, at least one road segment connection point is selected as the target road segment connection point;

[0011] When the travel boundary point is the travel start point, for each target road segment connection point, at least one other road segment with the direction of travel away from the target road segment connection point is selected from the other road segments connected to the first type of travel boundary road segment as at least one second type of travel boundary road segment;

[0012] When the travel boundary point is the end point of the trip, for each target road segment connection point, at least one other road segment with the direction of travel leading to the target road segment connection point as the direction of travel is selected from the other road segments connected to the first type of travel boundary road segment as at least one second type of travel boundary road segment;

[0013] The at least one second-type travel boundary segment is added to the travel boundary segment set matched by the travel boundary point, and the travel boundary segment set is used to plan the navigation route.

[0014] According to a second aspect of several embodiments of this specification, a route planning apparatus is provided, comprising:

[0015] The determination module determines the travel boundary points corresponding to the navigation route to be planned, whereby the travel boundary points are either the start point or the end point of the trip.

[0016] The selection module selects at least one road segment from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment;

[0017] The mining module, based on each first-type travel boundary segment, mines second-type travel boundary segments;

[0018] The mining module further includes:

[0019] The submodule determines the set of road segment connection points associated with the first type of travel boundary road segment, wherein each road segment connection point is the location point corresponding to the connection area between the first type of travel boundary road segment and other road segments it connects to;

[0020] The first selection submodule selects at least one road segment connection point as the target road segment connection point from among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition.

[0021] The second selection submodule, when the travel boundary point is the travel start point, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of departure from the target road segment connection point, as at least one second type of travel boundary road segment;

[0022] The third selection submodule, when the travel boundary point is the end point of the travel, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of entering the target road segment connection point, as at least one second type of travel boundary road segment;

[0023] The management module adds the at least one second-type travel boundary segment to the travel boundary segment set matched by the travel boundary point, and the travel boundary segment set is used to plan the navigation route.

[0024] According to a third aspect of several embodiments of this specification, a computer program product is provided that implements the method described in the first, second, or third aspect when running.

[0025] According to a fourth aspect of several embodiments of this specification, a computing device is provided, including a memory and a processor; the memory is configured to store computer instructions executable on the processor, and the processor is configured to implement the method described in the first, second, or third aspect when executing the computer instructions.

[0026] In this disclosure, the start and end points of the navigation route are considered as the travel boundary points corresponding to the navigation route. The starting road segment matched by the start point and the ending road segment matched by the end point are considered as the travel boundary segments matched by the travel boundary points. It is easy to understand that for a travel boundary point, the more travel boundary segments matched by that point are discovered, the richer the input provided to the route planning algorithm, and the greater the likelihood that the navigation route plan output by the route planning algorithm will be of high quality.

[0027] Therefore, the technical solution provided in this disclosure is to further explore, based on the travel boundary road segments that are close to the travel boundary point (i.e., the first type of travel boundary road segments), to identify the second type of travel boundary road segments that may not be close enough to the travel boundary point, but are still suitable (or even more suitable) as travel boundary road segments.

[0028] Among the road segment connection points associated with the first type of travel boundary road segment (the location points corresponding to the connection areas between the first type of travel boundary road segment and the other road segments it connects to), there may be road segment connection points adjacent to the travel boundary point. This means that users can enter other road segments outside the first type of travel boundary road segment from such road segment connection points (i.e., target road segment connection points) to start navigation, or they can enter other road segments outside the first type of travel boundary road segment connected by such road segment connection points to end navigation. Such other road segments also meet the criteria of travel boundary road segments matched by travel thresholds, and compared to the first type of travel boundary road segments, such other road segments may be more likely to lead to route planning algorithms planning high-quality navigation routes. This disclosure refers to such other road segments as second type of travel boundary road segments.

[0029] Meanwhile, the boundary point of the trip could be either the start or end of the trip, meaning the criteria for selecting the second type of trip boundary segment differs depending on whether it's the start or end point. For the start of the trip, since the user needs to leave the start point to begin navigation, the second type of trip boundary segment matched for the start point must meet the criterion of using the direction of departure from the target segment's connection point as the travel direction. For the end of the trip, since the user needs to reach the end point to end navigation, the second type of trip boundary segment matched for the start point must meet the criterion of using the direction of entry into the target segment's connection point as the travel direction.

[0030] In this way, a set of travel boundary segments matching the travel boundary points can be obtained. Such a set of travel boundary segments includes a large number of travel boundary segments, which is more conducive to planning high-quality navigation routes. Attached Figure Description

[0031] Figure 1A An exemplary flowchart of a route planning method is provided.

[0032] Figure 1B An exemplary diagram illustrating the road excavation steps is provided.

[0033] Figure 2 An example is provided: a schematic diagram of road segment excavation based on an intersection.

[0034] Figure 3 An example is provided: another schematic diagram of road segment excavation based on intersections.

[0035] Figure 4 An example is provided: a schematic diagram of gate-based road segment excavation.

[0036] Figure 5 An example is provided: a schematic diagram of gate-based road segment excavation.

[0037] Figure 6This is a schematic diagram of the overall navigation route provided in this publication.

[0038] Figure 7 This is a schematic diagram of the structure of a computing device provided in this disclosure.

[0039] In the accompanying drawings, identical or corresponding reference numerals denote identical or corresponding parts. Any number of elements in the drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0041] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification in other embodiments. In some other embodiments, the methods may include more or fewer steps than described in this specification. Furthermore, a single step described in this specification may be broken down into multiple steps in other embodiments; and multiple steps described in this specification may be combined into a single step in other embodiments.

[0042] The user information (including but not limited to user device information, user personal information, user location information, user travel information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0043] The travel navigation service disclosed herein can refer to a service that provides route guidance for users' various modes of travel. Typically, a travel navigation service needs to determine the user's mode of travel, as well as the origin and destination of the trip, and plan a navigation route suitable for the user's mode of travel, origin, and destination.

[0044] The navigation route described in this disclosure, also known as a navigation path, comprises a sequence of road segments to guide the user into each segment in order. The first road segment (the starting segment) of the navigation route is related to the starting point of the trip and is typically a segment that the user can easily access directly from the starting point, thus allowing navigation to begin from the first segment. The last road segment (the ending segment) of the navigation route is related to the destination of the trip and is typically a segment that the user can easily reach directly from, thus allowing navigation to end with the last segment.

[0045] In some real-world scenarios, a navigation route may consist of only two segments: the starting segment and the ending segment. However, in more common scenarios, a navigation route may include more than two segments, meaning there will be at least one intermediate segment between the starting and ending segments.

[0046] The selection of intermediate road segments between the starting and ending points of a trip, as well as the order of these intermediate road segments, often involves many possibilities, making it difficult to plan one or more high-quality navigation routes.

[0047] Current navigation route planning algorithms require a set of starting road segments matching the start of the trip and a set of ending road segments matching the end of the trip as input, and output one or more planned navigation routes. Before executing the navigation route planning algorithm, it is usually necessary to mine the set of starting road segments matching the start of the trip and the set of ending road segments matching the end of the trip for a given start and end point (which can be given by the user or obtained by locating the user).

[0048] For ease of description, this disclosure refers to the starting and ending points of the navigation route to be planned as "trip boundary points." When the concept of trip boundary points is mentioned later, it can refer to either the starting or ending point of the trip. Similarly, the starting or ending road segment is referred to as a "trip boundary segment." When a trip boundary point is the starting point, the trip boundary segment is the starting segment; when a trip boundary point is the ending point, the trip boundary segment is the ending segment.

[0049] In existing technologies, only road segments adjacent to the trip boundary point are typically considered as matching trip boundary road segments. These adjacent road segments can be understood as the road segments covered within the neighborhood of the trip boundary point. However, if the neighborhood of the trip boundary point is defined too large, it may include some unsuitable road segments (i.e., road segments that are inconvenient for users to directly access from the trip start point, or road segments that are inconvenient for users to directly reach the trip destination). If the neighborhood is defined appropriately or too small, the number of discovered trip boundary road segments will be insufficient, which is not conducive to providing rich input references for the route planning algorithm, and thus hinders the output of high-quality navigation routes. It should be noted here that the quality of the navigation route can be understood as the convenience for users to travel from the trip start point to the trip destination according to the navigation route.

[0050] In fact, considering only the road segments near the trip boundary points as the matching trip boundary segments can easily lead to low-quality navigation routes output by route planning algorithms. For example, if the location coordinates of the given trip boundary points are not accurate enough, the discovered nearby trip boundary segments may not actually be qualified. This makes it inconvenient for users to directly enter the segment from the trip start point, or to directly reach the trip destination from the segment. This can easily lead to situations where users need to cross restricted areas (such as medians), need to detour, or even be unable to complete the trip during their journey based on the navigation route.

[0051] By exploring as many route boundary segments as possible, we can provide richer input to the route planning algorithm, expand the range of information that the algorithm can refer to, and make it more conducive to the output of high-quality navigation routes.

[0052] Therefore, this disclosure aims to provide a technical solution that can uncover more travel start segments or travel end segments. The idea behind the technical solution provided by this disclosure is to further uncover a second type of travel boundary segment that may not be as close to the travel boundary point as the first type of travel boundary segment, based on the travel boundary segment that is close to the travel boundary point (i.e., the first type of travel boundary segment).

[0053] Among the road segment connection points associated with the first type of travel boundary road segment (the location points corresponding to the connection areas between the first type of travel boundary road segment and the other road segments it connects to), there may be road segment connection points adjacent to the travel boundary point. This means that users can enter other road segments outside the first type of travel boundary road segment from such road segment connection points (i.e., target road segment connection points) to start navigation, or they can enter other road segments outside the first type of travel boundary road segment connected by such road segment connection points to end navigation. Such other road segments also meet the criteria of travel boundary road segments matched by travel thresholds, and compared to the first type of travel boundary road segments, such other road segments may be more likely to lead to route planning algorithms planning high-quality navigation routes. This disclosure refers to such other road segments as second type of travel boundary road segments.

[0054] Meanwhile, the boundary point of the trip could be either the start or end of the trip, meaning the criteria for selecting the second type of trip boundary segment differs depending on whether it's the start or end point. For the start of the trip, since the user needs to leave the start point to begin navigation, the second type of trip boundary segment matched for the start point must meet the criterion of using the direction of departure from the target segment's connection point as the travel direction. For the end of the trip, since the user needs to reach the end point to end navigation, the second type of trip boundary segment matched for the start point must meet the criterion of using the direction of entry into the target segment's connection point as the travel direction.

[0055] In this way, a set of trip boundary segments matching the trip boundary points can be obtained. Such a set of trip boundary segments includes a large number of trip boundary segments, which is more conducive to planning high-quality navigation routes. In addition, one or more of the first type of trip boundary segments can also be added to the set of trip boundary segments, which can further increase the number of trip boundary segments input into the route planning algorithm.

[0056] During route planning, given the starting point and ending point of the navigation route to be planned, the method for mining the set of travel boundary segments provided in this disclosure can be used to mine the set of travel boundary segments matching the starting point (specifically, the set of travel start segments), and / or, the method for mining the set of travel boundary segments provided in this disclosure can be used to mine the set of travel boundary segments matching the ending point (specifically, the set of travel end segments). It should be noted that if the method for mining the set of travel boundary segments provided in this disclosure is not used, existing methods for mining the set of travel boundary segments can also be used. Thus, based on the set of travel boundary segments matching the starting point and the set of travel boundary segments matching the ending point, a route planning algorithm can be executed to obtain several planning schemes for the navigation route.

[0057] The technical solutions provided in this disclosure are described in detail below with reference to the accompanying drawings.

[0058] Figure 1A An exemplary flowchart of a route planning method is provided, including the following steps:

[0059] S100: Determine the travel boundary points corresponding to the navigation route to be planned.

[0060] S102: Select at least one road segment from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment.

[0061] S104: Based on each first-class travel boundary segment, mine the second-class travel boundary segment.

[0062] Step S104 further includes Figure 1B The following steps are provided as an example:

[0063] S1040: Determine the set of road segment connection points associated with the first type of travel boundary road segment.

[0064] S1042: Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, select at least one road segment connection point as the target road segment connection point.

[0065] S1044: For each target road segment connection point, select at least one other road segment that meets the type requirements of the travel boundary point from the other road segments connected to the first type of travel boundary road segment, as at least one second type of travel boundary road segment.

[0066] The type requirement for the travel boundary point here refers to the following: when the travel boundary point is the starting point of the trip, other road segments with the direction of travel away from the connection point of the target road segment are compliant; when the travel boundary point is the ending point of the trip, other road segments with the direction of travel into the connection point of the target road segment are compliant.

[0067] S1046: Add the at least one second-type travel boundary segment to the travel boundary segment set matched by the travel boundary point.

[0068] Determining whether the positional relationship between a travel boundary point and a road segment meets the first proximity condition essentially means determining whether the travel boundary point and the road segment are sufficiently close. Of course, the standard for sufficient proximity can be set based on experience, ensuring that a sufficiently close road segment is at least a qualified travel boundary segment. The qualified standard here could be: if the travel boundary point is the start point of the trip, the road segment should be easily accessible to the user from the start point; if the travel boundary point is the end point of the trip, the road segment should be easily accessible to the user from the end point.

[0069] There are multiple technical methods to determine whether the positional relationship between the travel boundary point and the road segment satisfies the first proximity condition.

[0070] For example, a neighborhood of the travel boundary point can be defined based on the criterion of sufficient proximity, and road segments that intersect with the area within the neighborhood can be identified as road segments whose positional relationship with the road segments meets the first proximity condition.

[0071] For example, a set of candidate road segments within the associated region of the travel boundary point can be determined. For each road segment in the candidate road segment set, the distance between the travel boundary point and its projection point on the geometric surface matched by the travel boundary point on that road segment is calculated. If the calculated distance is less than a first distance threshold, the positional relationship between the road segment and the travel boundary point is determined to satisfy a first proximity condition. It should be noted that the associated region of the travel boundary point can be relatively large, for example, it can be the city where the travel boundary point is located. The geometric surface matched by the road segment can be understood as follows: the road segment is vectorized into a geometric shape, and the Earth's sphere to which this geometric shape belongs can be used as the geometric surface matched by the road segment. Alternatively, the plane approximated by the geometric shape can also be used as the geometric surface matched by the road segment.

[0072] In some embodiments, not all road segments whose positional relationship with the travel boundary point satisfies the first proximity condition are necessarily included as first-type travel boundary road segments. Other factors may be considered, such as road segment level (higher level for better road conditions), road segment traffic flow (e.g., congestion, accidents, roadblocks), and road segment type (e.g., elevated road segments, country roads, etc.). Further, from all road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, road segments that are more convenient for user travel may be selected as first-type travel boundary road segments.

[0073] Considering that some types of locations are unsuitable for identifying Category II travel boundary segments when used as travel boundary points, the reason is that these types of locations often have specially designated entry and exit routes. That is, when used as travel boundary points, these locations have dedicated travel boundary segments, and other road segments cannot be used to determine navigation routes. Examples of these location types include gas stations, parking lots, highway service areas, tourist attractions, etc.

[0074] Therefore, in some embodiments, a second type of travel boundary segment may be mined only when the location type corresponding to the travel boundary point does not belong to the set location type. The set location type includes the location type corresponding to the travel boundary point with a dedicated travel boundary segment.

[0075] It should be noted that when a location of a certain type is set as a travel boundary point, the dedicated travel boundary road segment is usually a first-type travel boundary road segment whose positional relationship with the travel boundary point satisfies the first proximity condition. Therefore, when setting a location of a certain type as a travel boundary point, the first-type travel boundary road segment can be added to the set of travel boundary road segments matched by the travel boundary point for navigation route planning.

[0076] Based on the approach of mining second-type travel boundary segments from first-type travel boundary segments, we can further consider that the relationship between the first-type and second-type travel boundary segments is essentially a connection. This is because before starting a navigation route, the user is near the starting point of the trip, and after completing the navigation route, the user is near the ending point of the trip. Since the user's position relative to the first-type travel boundary segment is relatively close, the position relative to other road segments connected to the first-type travel boundary segment, although not exactly close, is likely to be a qualified travel boundary segment. That is, if the travel boundary point is the starting point of the trip, this other road segment is a convenient route for the user to directly enter from the starting point; if the travel boundary point is the ending point of the trip, the user can conveniently reach the ending point from this other road segment.

[0077] Therefore, the source of the second type of travel boundary segment can be other segments connected to the first type of travel boundary segment. Segments with connecting relationships often have connecting areas, and the location points corresponding to these connecting areas can be called connecting location points. For example, the aforementioned connecting area can be a connecting area between segments in an open space, such as an intersection. As another example, the aforementioned connecting area can also be a passageway area between an internal segment in a closed space and an external segment outside the closed space.

[0078] When the trip boundary point is the starting point of the trip, and the user needs to leave the vicinity of the trip starting point, it is understandable that determining the target road segment connection point associated with the first type of trip boundary road segment (the road segment connection point that is relatively close to the trip starting point) makes it more convenient for the user to enter a certain road segment from the target road segment connection point to start the navigation route. This certain road segment is actually one of the other road segments connected to the first type of trip boundary road segment, with the direction of travel being the direction of leaving the target road segment connection point.

[0079] When the travel boundary point is the travel end point, and the user needs to arrive near the travel start point, it is understandable that determining the target road segment connection point associated with the first type of travel boundary road segment (the road segment connection point that is relatively close to the travel end point) makes it more convenient for the user to leave a certain road segment from the target road segment connection point and arrive at the travel end point. This certain road segment is actually one of the other road segments connected to the first type of travel boundary road segment, with the direction of travel being the direction of entering the target road segment connection point.

[0080] There are several technical implementations for determining which road segment connection points satisfy the second proximity condition in terms of their positional relationship with the travel boundary point. In some embodiments, for each road segment connection point in the set of road segment connection points, the distance between the road segment connection point and the projection point of the travel boundary point on the geometric surface matched by the first type of travel boundary road segment can be calculated; if the calculated distance is less than a second distance threshold, then it is determined that the positional relationship between the road segment connection point and the travel boundary point satisfies the second proximity condition.

[0081] It should be noted that some first-class travel boundary sections may not support the excavation of qualified second-class travel boundary sections. In this case, if the target road segment connection point cannot be determined based on the first-class travel boundary section, or even if the target road segment connection point is determined but a qualified second-class travel boundary section cannot be found, then the first-class travel boundary section should be abandoned and another first-class travel boundary section should be used for excavation.

[0082] The following will provide a more detailed explanation using the examples of connecting areas as intersections and connecting areas as passageways (such as doors).

[0083] Assuming the connecting area is an intersection, then when the travel boundary point is the travel start point, the specific steps are as follows:

[0084] For each target road segment connection point, if the first type of travel boundary road segment is a one-way road segment and the target road segment connection point is the exit of the first type of travel boundary road segment, then from the other road segments connected to the first type of travel boundary road segment, select the other road segments that one enters after leaving the first type of travel boundary road segment as the second type of travel boundary road segment;

[0085] If the first type of travel boundary segment is a one-way traffic segment and the target segment connection point is the entrance of the first type of travel boundary segment, then from the other segments connected to the first type of travel boundary segment, first select the other segments that were left before entering the first type of travel boundary segment, and then for each of the first selected other segments, continue to select the other segments that were entered after leaving the other segments, as the second type of travel boundary segment;

[0086] If the first type of travel boundary segment is a two-way traffic segment, then from the other segments connected to the first type of travel boundary segment, the other segments entered after leaving the first type of travel boundary segment are selected as the second type of travel boundary segment.

[0087] Therefore, if the boundary point is the end point of the journey, then specifically:

[0088] For each target road segment connection point, if the first type of travel boundary road segment is a one-way road segment and the target road segment connection point is the entrance of the first type of travel boundary road segment, then from the other road segments connected to the first type of travel boundary road segment, select the other road segments that were left before entering the first type of travel boundary road segment as the second type of travel boundary road segment;

[0089] If the first type of travel boundary segment is a one-way traffic segment, and the target segment connection point is the exit of the first type of travel boundary segment, then from the other segments connected to the first type of travel boundary segment, first select the other segments that are entered after leaving the first type of travel boundary segment, and then for each of the first selected other segments, continue to select the other segments that were left before entering the other segment, as the second type of travel boundary segment;

[0090] If the first type of travel boundary segment is a two-way traffic segment, then from the other segments connected to the first type of travel boundary segment, the other segments that the person left before entering the first type of travel boundary segment are selected as the second type of travel boundary segment.

[0091] Figure 2 An example is provided: a schematic diagram of road segment excavation based on an intersection. For example... Figure 2 As shown, the dashed box represents the connection point of the target road segment (specifically, the intersection). L1-L8 represent the various road segments connected by the intersection. The arrow direction of the road segment represents the direction of traffic on the road segment. Let's assume that all road segments are one-way traffic segments.

[0092] See Figure 2 Assume L1 is the first type of travel boundary segment, and L2-L8 are other road segments connected to L1 through the intersection. When the travel boundary point is the starting point of the journey, L1 is a one-way road segment, and the intersection is the entrance to L1. Therefore, we first select the in-degrees of L1, namely L4, L6, and L8, and then iterate through the out-degrees of L4, L6, and L8 to obtain L3, L5, and L7. We then use L3, L5, and L7 as the second type of travel boundary segment. When the travel boundary point is the ending point of the journey, L1 is still a one-way road segment, and the intersection is the entrance to L1. Therefore, we use the in-degrees of L1, namely L4, L6, and L8, as the second type of travel boundary segment.

[0093] See also Figure 2Assume L2 is the first type of travel boundary segment, and L1, L3-L8 are other segments connected to L2 through the intersection. When the travel boundary point is the starting point of the journey, L2 is a one-way segment, and the intersection is the exit of L2. Therefore, the out-degrees of L2, namely L3, L5, and L7, can be considered as the second type of travel boundary segment. When the travel boundary point is the ending point of the journey, L2 is still a one-way segment, and the intersection is the exit of L2. Therefore, first select the out-degrees of L2, namely L3, L5, and L7, and then iterate through the in-degrees of L3, L5, and L7, namely L4, L6, and L8, and consider L4, L6, and L8 as the second type of travel boundary segment.

[0094] Figure 3 An example is provided showing another schematic diagram of road segment excavation based on intersections. For example... Figure 3 As shown, in Figure 2 Based on this, L1 is changed to a two-way traffic lane. Assume L1 is a first-type travel boundary segment, and L2-L8 are other road segments connected to L1 through intersections. When the travel boundary point is the travel start point, L1 is a two-way traffic segment; therefore, the out-degrees of L1, namely L3, L5, and L7, can be selected as second-type travel boundary segments. When the travel boundary point is the travel end point, L1 is still a two-way traffic segment; therefore, the in-degrees of L1, namely L4, L6, and L8, are selected as second-type travel boundary segments.

[0095] Furthermore, assuming that the first type of travel boundary segment is an internal road segment within a closed space, and the other road segments connected to the first type of travel boundary segment are external road segments outside the closed space, and the connecting area is the passage area between the first type of travel boundary segment and its connected external road segments (taking a door as an example), then specifically:

[0096] Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, at least one target road segment connection point that has a reachable relationship with the travel boundary point is selected.

[0097] Wherein, when the travel boundary point is the starting point of the trip, the reachability relationship includes: after entering the first type of travel boundary road segment from the travel boundary point, one can further reach the target road segment connection point; when the travel boundary point is the ending point of the trip, the reachability relationship includes: after entering the first type of travel boundary road segment through the target road segment connection point, one can further reach the travel boundary point.

[0098] In other words, the first type of travel boundary road segment belongs to the internal road segment. The two ends of the internal road segment are not necessarily connected to the external road segment. Some internal road segments are completely closed and are not connected to the external road segment at either end, while some internal road segments are connected to the external road segment at only one end, and some internal road segments may be connected to the external road segment at both ends.

[0099] Since the first type of trip boundary segment is an internal segment, it often means that the trip boundary point is within an enclosed space. This means the user is in an enclosed space before navigation begins, or needs to reach an enclosed space to end navigation. This further implies that if a user wants to leave the trip origin to enter an external segment to begin the trip, they need to pass through an "internal segment-door." Similarly, if a user wants to reach the trip destination from an external segment to end the trip, they must pass through a "door-internal segment." Therefore, in this situation, it's necessary to consider whether, when the trip boundary point is the trip origin, there exists at least one door that the user can reach through the internal segment; and whether, when the trip boundary point is the trip destination, there exists at least one door that allows the user to enter and then reach the trip destination through the internal segment.

[0100] Therefore, when the travel boundary point is the travel start point, at least one door that the user can reach through the internal road segment needs to be selected from among the doors whose positional relationship with the travel boundary point satisfies the second proximity condition, as the target road segment connection point.

[0101] When the travel boundary point is the travel endpoint, at least one door needs to be selected as the target road segment connection point from among the doors whose positional relationship with the travel boundary point satisfies the second proximity condition. This allows the user to enter the door and reach the travel endpoint through the internal road segment.

[0102] In the gate-based road segment excavation embodiment, after the target road segment connection point is determined, step S1044 described above can be executed.

[0103] Figure 4 An example is provided: a schematic diagram of gate-based road segment excavation. For example... Figure 4 As shown, the dashed box represents a door, L1 is the internal road segment, and L2 is the external road segment connected to L1 through the door. L1 is a one-way road segment, and the direction of travel of L1 is towards the door. In this way, when the travel boundary point is the travel start point, the door can be identified as the target road segment connection point, and L2 can be identified as the second type of travel boundary road segment.

[0104] Figure 5 An example is provided: a schematic diagram of gate-based road segment excavation. For example... Figure 5As shown, the dashed box represents a door, L1 is the internal road segment, and L2 is the external road segment connected to L1 through the door. L1 is a one-way road segment, and the direction of travel of L1 is away from the door. In this way, when the travel boundary point is the end point of the travel, the door can be identified as the target road segment connection point, and L2 can be identified as the second type of travel boundary road segment.

[0105] Additionally, if Figure 4 , Figure 5 If L1 is a dual-direction road segment, the principle is similar, and the gates at both ends of L1 can be judged separately.

[0106] Furthermore, if the navigation route required for a user's trip is not a two-point route (i.e., trip start point - trip end point), but a multi-point route (i.e., total trip start point - waypoint 1 - ... - waypoint M - total trip end point), then the travel navigation service can also plan the total navigation route for the user based on the given total trip start point, at least one waypoint, and total trip end point.

[0107] It's easy to understand that a general navigation route consists of at least two navigation subroutines connected by waypoints. A waypoint between any two navigation subroutines is the destination of the preceding subroutines and the starting point of the following subroutines. Therefore, the concept of a "navigation route" mentioned later can refer to either a two-point navigation route or any subroutines within a multi-point general navigation route. For a single navigation subroutines, both the starting and ending points can be waypoints within the general navigation route. In other words, the starting and ending points are concepts relative to the perspective of a single navigation subroutines, while waypoints are concepts relative to the perspective of the general navigation route.

[0108] In practice, when planning the overall navigation route, the process is actually performed for each navigation sub-route. Figure 1A and Figure 1B The method flow is shown.

[0109] This disclosure provides a route planning method for a general navigation route, including the following steps:

[0110] Determine multiple travel boundary points corresponding to the overall navigation route to be planned. Each travel boundary point includes a travel start point or a travel end point. The overall navigation route is formed by connecting at least two navigation sub-routes through waypoints. The waypoint between any two navigation sub-routes is the travel end point corresponding to the previous navigation sub-routes and the travel start point corresponding to the next navigation sub-routes.

[0111] Determine the priority of the at least two navigation subroutines, wherein any two adjacent navigation subroutines have different priorities;

[0112] Initialize i = 1, and perform a road segment mining step for each navigation sub-route of the i-th priority. The road segment mining step includes: determining the set of travel boundary road segments matching the travel start point of the navigation sub-route if there is no set of travel boundary road segments matching the travel start point of the navigation sub-route, and determining the set of travel boundary road segments matching the travel end point of the navigation sub-route if there is no set of travel boundary road segments matching the travel end point of the navigation sub-route; wherein, the set of travel boundary road segments matching the travel start point of the navigation sub-route is obtained based on the method shown in Figure 1, and / or, the set of travel boundary road segments matching the travel end point of the navigation sub-route is obtained based on the method shown in Figure 1.

[0113] Reset i+1 as i, and re-execute the road segment excavation step for each navigation sub-route of the i-th priority until i = N, where N is the number of priorities;

[0114] For each navigation sub-route, a route planning algorithm is executed based on the set of travel boundary segments matching the start point and the set of travel boundary segments matching the end point of the navigation sub-route to obtain several planning schemes for the navigation sub-route.

[0115] In other words, each navigation sub-route included in the overall navigation route is assigned a priority, where priority refers to the priority of executing road segment mining. Considering that adjacent navigation sub-routes share a common waypoint—which is the destination of the preceding sub-route and the starting point of the following sub-route—it's clear that the travel boundary segments mined from the same waypoint as a starting point are different from those mined as a destination. Therefore, after executing the method shown in Figure 1 for the same waypoint once for its identity (travel start or travel end), it's unnecessary to execute the method shown in Figure 1 again for that waypoint. Thus, the priorities of adjacent navigation sub-routes need to be different; otherwise, the same waypoint might be executed multiple times using the method shown in Figure 1.

[0116] Two or more non-adjacent navigation subroutines can have the same priority, enabling parallel execution of road segment excavation calculations and improving computational efficiency.

[0117] Figure 6 This is a schematic diagram of the overall navigation route provided in this public disclosure. (For example...) Figure 6As shown, the planned overall navigation route includes navigation sub-routes S1, S2, and S3 in sequence. S1 and S2 are connected by waypoint 1, and S2 and S3 are connected by waypoint 2. S1 and S3 can be set as the first priority and executed in parallel according to the method flow shown in Figure 1, while S2 is set as the second priority. It's easy to understand that since waypoint 1, as the destination of S1, matches the set of travel boundary segments, and waypoint 2, as the starting point of S2, also matches the set of travel boundary segments, there are readily available travel boundary segments for waypoint 1 as the starting point and waypoint 2 as the destination of S2. Therefore, for S2, it is not necessary to execute the method flow shown in Figure 1 again.

[0118] Additionally, it should be noted that in the embodiment of road segment excavation based on intersections, waypoints in the overall navigation route will be regarded as the starting point of a certain navigation sub-route or the ending point of another navigation sub-route for road segment excavation.

[0119] In an embodiment of road segment excavation based on the passage area (specifically, a door) between internal and external road segments, if the waypoint is taken as the travel boundary point (travel start point or travel end point), the user needs to not only arrive at the waypoint but also leave the waypoint during the travel process according to the navigation route. If the waypoint is located in an enclosed space, it is required that there not only be a door that can be reached by leaving the waypoint through the internal road segment, but also that there is such a door that can be entered through the internal road segment to reach the waypoint.

[0120] This means that, when the travel boundary point is a waypoint: if the internal road segment is a two-way road segment and there is only one target road segment connection point (gate), then the external road segment connected to this gate must include at least one external road segment leaving the gate and one external road segment entering the gate, so that the user can enter and exit. If the internal road segment is a two-way road segment and there are at least two target road segment connection points (gates), then the total set of external road segments connected to each of these at least two gates must include at least one external road segment leaving the gate and one external road segment entering the gate, so that the user can enter and exit.

[0121] If the internal road segment is a one-way road segment, then there must be at least two target road segment connection points (gates), one of which connects to the external road segment leaving the gate, and the other of which connects to the external road segment entering the gate, so that users can enter and exit at will.

[0122] Therefore, in the embodiment of road segment excavation based on the passage area (specifically, a door) between internal and external road segments, it is necessary to regard all the determined target road segment connection segments as a collective. From the other road segments connected by the first type of travel boundary road segments, not only should at least one other road segment with the direction of travel being the direction of entering any one of the target road segment connection points be selected, but also at least one other road segment with the direction of travel being the direction of leaving any one of the target road segment connection points be selected. The selected other road segments are then regarded as the second type of travel boundary road segments.

[0123] This makes it easier to identify qualified second-type travel boundary sections when the internal road segment is either a one-way or two-way traffic segment. It should be noted that some first-type travel boundary sections serving as internal road segments may not support the identification of qualified second-type travel boundary sections. In such cases, if the target road segment connection point cannot be determined based on the first-type travel boundary section, or even if the target road segment connection point is determined but a qualified second-type travel boundary section cannot be found, then the first-type travel boundary section should be abandoned, and another first-type travel boundary section should be selected for identification.

[0124] This disclosure also provides a route planning device, including:

[0125] The determination module determines the travel boundary points corresponding to the navigation route to be planned, whereby the travel boundary points are either the start point or the end point of the trip.

[0126] The selection module selects at least one road segment from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment;

[0127] The mining module mines second-type travel boundary segments based on each first-type travel boundary segment;

[0128] The mining module further includes:

[0129] The submodule determines the set of road segment connection points associated with the first type of travel boundary road segment, wherein each road segment connection point is the location point corresponding to the connection area between the first type of travel boundary road segment and other road segments it connects to;

[0130] The first selection submodule selects at least one road segment connection point as the target road segment connection point from among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition.

[0131] The second selection submodule, when the travel boundary point is the travel start point, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of departure from the target road segment connection point, as at least one second type of travel boundary road segment;

[0132] The third selection submodule, when the travel boundary point is the end point of the travel, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of entering the target road segment connection point, as at least one second type of travel boundary road segment;

[0133] The management module adds the at least one second-type travel boundary segment to the travel boundary segment set matched by the travel boundary point, and the travel boundary segment set is used to plan the navigation route.

[0134] This disclosure also provides a computer program product that implements the methods of the embodiments of this disclosure when running.

[0135] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods of embodiments of this disclosure.

[0136] This disclosure also provides a computing device, including a memory and a processor; the memory is used to store computer instructions that can be executed on the processor, and the processor is used to implement the methods of the embodiments of this disclosure when executing the computer instructions.

[0137] Figure 7 This is a schematic diagram of the structure of a computing device provided in this disclosure. The computing device 15 may include, but is not limited to, a processor 151, a memory 152, and a bus 153 connecting different system components (including the memory 152 and the processor 151).

[0138] The memory 152 stores computer instructions that can be executed by the processor 151, enabling the processor 151 to perform the methods of any embodiment of this disclosure. The memory 152 may include a random access memory (RAM) 1521, a cache memory 1522, and / or a read-only memory (ROM) 1523. The memory 152 may also include a program tool 1525 having a set of program modules 1524, including but not limited to: an operating system, one or more application programs, other program modules, and program data. One or more combinations of these program modules may include an implementation of a network environment.

[0139] Bus 153 may include, for example, a data bus, an address bus, and a control bus. The computing device 15 can also communicate with external devices 155 via I / O interface 154, such as a keyboard or a Bluetooth device. The computing device 150 can also communicate with one or more networks via network adapter 156, such as a local area network (LAN), a wide area network (WAN), or a public network. As shown, network adapter 156 can also communicate with other modules of the computing device 15 via bus 153.

[0140] Furthermore, although the operations of the methods disclosed herein are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0141] While the spirit and principles of this disclosure have been described with reference to several specific embodiments, it should be understood that this disclosure is not limited to the disclosed specific embodiments, and the division of aspects does not imply that features in these aspects cannot be combined for benefit; such division is merely for convenience of expression. This disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

[0142] The methods described in the above embodiments can be implemented by a computer chip or physical entity, or by a product with a certain function. A typical implementing device is a computer. Specifically, the computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0143] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware.

[0144] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0145] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0146] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0147] The terminology used in the various embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments of this specification. The singular forms “a,” “described,” and “the” as used in the various embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0148] It should be understood that although the terms first, second, third, etc., may be used to describe various information in various embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of various embodiments of this specification, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0149] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the method embodiments are basically similar to the method embodiments and are therefore described simply; relevant parts can be referred to the descriptions of the method embodiments. The method embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. When implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware. Alternatively, some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0150] The above description is merely a preferred embodiment of the various embodiments of this specification and is not intended to limit the various embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the various embodiments of this specification should be included within the protection scope of the various embodiments of this specification.

Claims

1. A route planning method, comprising: Determine the travel boundary points corresponding to the navigation route to be planned, whereby the travel boundary points are either the start point or the end point of the trip; At least one road segment is selected from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment; Based on each first-type travel boundary segment, the second-type travel boundary segment is extracted, including the following steps: Determine the set of road segment connection points associated with the first type of travel boundary road segment, wherein each road segment connection point is the location point corresponding to the connection area between the first type of travel boundary road segment and other road segments it connects to; Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, at least one road segment connection point is selected as the target road segment connection point; When the travel boundary point is the travel start point, for each target road segment connection point, at least one other road segment with the direction of travel away from the target road segment connection point is selected from the other road segments connected to the first type of travel boundary road segment as at least one second type of travel boundary road segment; When the travel boundary point is the end point of the trip, for each target road segment connection point, at least one other road segment with the direction of travel leading to the target road segment connection point as the direction of travel is selected from the other road segments connected to the first type of travel boundary road segment, and the first type of travel boundary road segment and the at least one second type of travel boundary road segment are connected. The at least one second-type travel boundary segment is added to the travel boundary segment set matched by the travel boundary point, and the travel boundary segment set is used to plan the navigation route.

2. The method as described in claim 1, the step of determining the road segment whose positional relationship with the travel boundary point satisfies the first proximity condition includes: Determine the set of candidate road segments within the associated area of ​​the travel boundary point; For each road segment in the candidate road segment set, calculate the distance between the travel boundary point and the projection point of the travel boundary point on the geometric surface matched by the road segment; If the calculated distance is less than the first distance threshold, then the positional relationship between the road segment and the travel boundary point is determined to satisfy the first proximity condition.

3. The method of claim 1, further comprising: Add each type I travel boundary segment to the travel boundary segment set.

4. The method as described in claim 1, wherein the step of mining the second type of travel boundary segment based on each first type of travel boundary segment includes: If the location type corresponding to the travel boundary point does not belong to the set location type, a second type of travel boundary segment is extracted based on each first type of travel boundary segment; wherein, the set location type includes: the location type corresponding to the travel boundary point with a dedicated travel boundary segment.

5. The method of claim 1, wherein the step of determining the road segment connection point whose positional relationship with the travel boundary point satisfies the second proximity condition includes: For each road segment connection point in the set of road segment connection points, calculate the distance between the road segment connection point and the projection point of the travel boundary point on the geometric surface matched by the first type of travel boundary road segment; If the calculated distance is less than the second distance threshold, then the positional relationship between the road segment connection point and the travel boundary point is determined to satisfy the second proximity condition.

6. The method of claim 1, wherein, The connecting area includes: intersections between road segments.

7. The method of claim 6, wherein, when the travel boundary point is the travel start point, the step of selecting at least one other road segment from the other road segments connected to the first type of travel boundary road segment, with the direction of travel leaving the target road segment connection point as the travel direction, as at least one second type of travel boundary road segment for each target road segment connection point, includes: For each target road segment connection point, if the first type of travel boundary road segment is a one-way road segment and the target road segment connection point is the exit of the first type of travel boundary road segment, then from the other road segments connected to the first type of travel boundary road segment, select the other road segments that one enters after leaving the first type of travel boundary road segment as the second type of travel boundary road segment; If the first type of travel boundary segment is a one-way traffic segment and the target segment connection point is the entrance of the first type of travel boundary segment, then from the other segments connected to the first type of travel boundary segment, first select the other segments that were left before entering the first type of travel boundary segment, and then for each of the first selected other segments, continue to select the other segments that were entered after leaving the other segments, as the second type of travel boundary segment; If the first type of travel boundary segment is a two-way traffic segment, then from the other segments connected to the first type of travel boundary segment, the other segments entered after leaving the first type of travel boundary segment are selected as the second type of travel boundary segment.

8. The method of claim 6, wherein when the travel boundary point is the end point of the trip, the step of selecting at least one other road segment from the other road segments connected to the first type of travel boundary road segment, with the direction of travel being the direction of departure from the target road segment connection point, as at least one second type of travel boundary road segment for each target road segment connection point, comprises: For each target road segment connection point, if the first type of travel boundary road segment is a one-way road segment and the target road segment connection point is the entrance of the first type of travel boundary road segment, then from the other road segments connected to the first type of travel boundary road segment, select the other road segments that were left before entering the first type of travel boundary road segment as the second type of travel boundary road segment; If the first type of travel boundary segment is a one-way traffic segment, and the target segment connection point is the exit of the first type of travel boundary segment, then from the other segments connected to the first type of travel boundary segment, first select the other segments that are entered after leaving the first type of travel boundary segment, and then for each of the first selected other segments, continue to select the other segments that were left before entering the other segment, as the second type of travel boundary segment; If the first type of travel boundary segment is a two-way traffic segment, then from the other segments connected to the first type of travel boundary segment, the other segments that the person left before entering the first type of travel boundary segment are selected as the second type of travel boundary segment.

9. The method according to any one of claims 1-8, wherein, The overall navigation route is formed by connecting at least two navigation subroutines through waypoints. The waypoint between any two navigation subroutines is the end point of the journey corresponding to the previous navigation subroutines and the start point of the journey corresponding to the next navigation subroutines. The navigation route is any one of the at least two navigation sub-routes.

10. The method according to any one of claims 1-5, wherein, When the first type of travel boundary road segment is an internal road segment within a closed space, the other road segments connected to the first type of travel boundary road segment are external road segments outside the closed space, and the connecting area is the passage area between the first type of travel boundary road segment and the external road segments it connects to; Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, at least one road segment connection point is selected, including: Among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition, at least one target road segment connection point that has a reachable relationship with the travel boundary point is selected. Wherein, when the travel boundary point is the travel start point, the reachability relationship includes: after entering the first type of travel boundary road segment from the travel boundary point, one can further reach the target road segment connection point; When the travel boundary point is the end point of the trip, the reachability relationship includes: after entering the first type of travel boundary road segment through the target road segment connection point, one can further reach the travel boundary point.

11. The method of claim 10, wherein, The overall navigation route is formed by connecting at least two navigation sub-routes through waypoints. The waypoint between any two navigation sub-routes is the end point of the journey corresponding to the previous navigation sub-routes and the start point of the journey corresponding to the next navigation sub-routes. The navigation route is any one of the at least two navigation sub-routes. When the travel boundary point is a waypoint, the method further includes: For all target road segment connection points, from the other road segments connected to the first type of travel boundary road segment, at least one other road segment with the direction of travel entering any one of the target road segment connection points as the travel direction and at least one other road segment with the direction of travel leaving any one of the target road segment connection points as the travel direction are selected as at least one second type of travel boundary road segment.

12. A route planning device, comprising: The determination module determines the travel boundary points corresponding to the navigation route to be planned, whereby the travel boundary points are either the start point or the end point of the trip. The selection module selects at least one road segment from the road segments whose positional relationship with the travel boundary point satisfies the first proximity condition, as the first type of travel boundary road segment; The mining module mines second-type travel boundary segments based on each first-type travel boundary segment; The mining module further includes: The submodule determines the set of road segment connection points associated with the first type of travel boundary road segment, wherein each road segment connection point is the location point corresponding to the connection area between the first type of travel boundary road segment and other road segments it connects to; The first selection submodule selects at least one road segment connection point as the target road segment connection point from among the road segment connection points whose positional relationship with the travel boundary point satisfies the second proximity condition. The second selection submodule, when the travel boundary point is the travel start point, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of departure from the target road segment connection point, as at least one second type of travel boundary road segment; The third selection submodule, when the travel boundary point is the end point of the travel, selects at least one other road segment from the other road segments connected to the first type of travel boundary road segment for each target road segment connection point, with the direction of travel being the direction of entering the target road segment connection point, as at least one second type of travel boundary road segment, and the first type of travel boundary road segment and the at least one second type of travel boundary road segment are connected; The management module adds the at least one second-type travel boundary segment to the travel boundary segment set matched by the travel boundary point, and the travel boundary segment set is used to plan the navigation route.

13. A computing device, comprising a memory and a processor; the memory being configured to store computer instructions executable on the processor, the processor being configured to implement the method of any one of claims 1 to 11 when executing the computer instructions.

14. A computer program product that, when run, implements the method of any one of claims 1 to 11.

Images